klipper/scripts/avrsim.py

#!/usr/bin/env python3
# Script to interact with simulavr by simulating a serial port.
#
# Copyright (C) 2015-2018  Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, optparse, time, os, pty, fcntl, termios, errno
import pysimulavr

SERIALBITS = 10 # 8N1 = 1 start, 8 data, 1 stop
SIMULAVR_FREQ = 10**9

# Class to read serial data from AVR serial transmit pin.
class SerialRxPin(pysimulavr.PySimulationMember, pysimulavr.Pin):
    def __init__(self, baud, terminal):
        pysimulavr.Pin.__init__(self)
        pysimulavr.PySimulationMember.__init__(self)
        self.terminal = terminal
        self.sc = pysimulavr.SystemClock.Instance()
        self.delay = SIMULAVR_FREQ // baud
        self.current = 0
        self.pos = -1
    def SetInState(self, pin):
        pysimulavr.Pin.SetInState(self, pin)
        self.state = pin.outState
        if self.pos < 0 and pin.outState == pin.LOW:
            self.pos = 0
            self.sc.Add(self)
    def DoStep(self, trueHwStep):
        ishigh = self.state == self.HIGH
        self.current |= ishigh << self.pos
        self.pos += 1
        if self.pos == 1:
            return int(self.delay * 1.5)
        if self.pos >= SERIALBITS:
            data = bytearray([(self.current >> 1) & 0xff])
            self.terminal.write(data)
            self.pos = -1
            self.current = 0
            return -1
        return self.delay

# Class to send serial data to AVR serial receive pin.
class SerialTxPin(pysimulavr.PySimulationMember, pysimulavr.Pin):
    def __init__(self, baud, terminal):
        pysimulavr.Pin.__init__(self)
        pysimulavr.PySimulationMember.__init__(self)
        self.terminal = terminal
        self.SetPin('H')
        self.sc = pysimulavr.SystemClock.Instance()
        self.delay = SIMULAVR_FREQ // baud
        self.current = 0
        self.pos = 0
        self.queue = bytearray()
        self.sc.Add(self)
    def DoStep(self, trueHwStep):
        if not self.pos:
            if not self.queue:
                data = self.terminal.read()
                if not data:
                    return self.delay * 100
                self.queue.extend(data)
            self.current = (self.queue.pop(0) << 1) | 0x200
        newstate = 'L'
        if self.current & (1 << self.pos):
            newstate = 'H'
        self.SetPin(newstate)
        self.pos += 1
        if self.pos >= SERIALBITS:
            self.pos = 0
        return self.delay

# Support for creating VCD trace files
class Tracing:
    def __init__(self, filename, signals):
        self.filename = filename
        self.signals = signals
        if not signals:
            self.dman = None
            return
        self.dman = pysimulavr.DumpManager.Instance()
        self.dman.SetSingleDeviceApp()
    def show_help(self):
        ostr = pysimulavr.ostringstream()
        self.dman.save(ostr)
        sys.stdout.write(ostr.str())
        sys.exit(1)
    def load_options(self):
        if self.dman is None:
            return
        if self.signals.strip() == '?':
            self.show_help()
        sigs = "\n".join(["+ " + s for s in self.signals.split(',')])
        self.dman.addDumpVCD(self.filename, sigs, "ns", False, False)
    def start(self):
        if self.dman is not None:
            self.dman.start()
    def finish(self):
        if self.dman is not None:
            self.dman.stopApplication()

# Pace the simulation scaled to real time
class Pacing(pysimulavr.PySimulationMember):
    def __init__(self, rate):
        pysimulavr.PySimulationMember.__init__(self)
        self.sc = pysimulavr.SystemClock.Instance()
        self.pacing_rate = 1. / (rate * SIMULAVR_FREQ)
        self.next_check_clock = 0
        self.rel_time = time.time()
        self.best_offset = 0.
        self.delay = SIMULAVR_FREQ // 10000
        self.sc.Add(self)
    def DoStep(self, trueHwStep):
        curtime = time.time()
        clock = self.sc.GetCurrentTime()
        offset = clock * self.pacing_rate - (curtime - self.rel_time)
        self.best_offset = max(self.best_offset, offset)
        if offset > 0.000050:
            time.sleep(offset - 0.000040)
        if clock >= self.next_check_clock:
            self.rel_time -= min(self.best_offset, 0.)
            self.next_check_clock = clock + self.delay * 500
            self.best_offset = -999999999.
        return self.delay

# Forward data from a terminal device to the serial port pins
class TerminalIO:
    def __init__(self):
        self.fd = -1
    def run(self, fd):
        self.fd = fd
    def write(self, data):
        os.write(self.fd, data)
    def read(self):
        try:
            return os.read(self.fd, 64)
        except os.error as e:
            if e.errno not in (errno.EAGAIN, errno.EWOULDBLOCK):
                pysimulavr.SystemClock.Instance().stop()
        return ""

# Support for creating a pseudo-tty for emulating a serial port
def create_pty(ptyname):
    mfd, sfd = pty.openpty()
    try:
        os.unlink(ptyname)
    except os.error:
        pass
    os.symlink(os.ttyname(sfd), ptyname)
    fcntl.fcntl(mfd, fcntl.F_SETFL
                , fcntl.fcntl(mfd, fcntl.F_GETFL) | os.O_NONBLOCK)
    tcattr = termios.tcgetattr(mfd)
    tcattr[0] &= ~(
        termios.IGNBRK | termios.BRKINT | termios.PARMRK | termios.ISTRIP |
        termios.INLCR | termios.IGNCR | termios.ICRNL | termios.IXON)
    tcattr[1] &= ~termios.OPOST
    tcattr[3] &= ~(
        termios.ECHO | termios.ECHONL | termios.ICANON | termios.ISIG |
        termios.IEXTEN)
    tcattr[2] &= ~(termios.CSIZE | termios.PARENB)
    tcattr[2] |= termios.CS8
    tcattr[6][termios.VMIN] = 0
    tcattr[6][termios.VTIME] = 0
    termios.tcsetattr(mfd, termios.TCSAFLUSH, tcattr)
    return mfd

def main():
    usage = "%prog [options] <program.elf>"
    opts = optparse.OptionParser(usage)
    opts.add_option("-m", "--machine", type="string", dest="machine",
                    default="atmega644", help="type of AVR machine to simulate")
    opts.add_option("-s", "--speed", type="int", dest="speed", default=16000000,
                    help="machine speed")
    opts.add_option("-r", "--rate", type="float", dest="pacing_rate",
                    default=0., help="real-time pacing rate")
    opts.add_option("-b", "--baud", type="int", dest="baud", default=250000,
                    help="baud rate of the emulated serial port")
    opts.add_option("-t", "--trace", type="string", dest="trace",
                    help="signals to trace (? for help)")
    opts.add_option("-p", "--port", type="string", dest="port",
                    default="/tmp/pseudoserial",
                    help="pseudo-tty device to create for serial port")
    deffile = os.path.splitext(os.path.basename(sys.argv[0]))[0] + ".vcd"
    opts.add_option("-f", "--tracefile", type="string", dest="tracefile",
                    default=deffile, help="filename to write signal trace to")
    options, args = opts.parse_args()
    if len(args) != 1:
        opts.error("Incorrect number of arguments")
    elffile = args[0]
    proc = options.machine
    ptyname = options.port
    speed = options.speed
    baud = options.baud

    # launch simulator
    sc = pysimulavr.SystemClock.Instance()
    trace = Tracing(options.tracefile, options.trace)
    dev = pysimulavr.AvrFactory.instance().makeDevice(proc)
    dev.Load(elffile)
    dev.SetClockFreq(SIMULAVR_FREQ // speed)
    sc.Add(dev)
    pysimulavr.cvar.sysConHandler.SetUseExit(False)
    trace.load_options()

    # Do optional real-time pacing
    if options.pacing_rate:
        pacing = Pacing(options.pacing_rate)

    # Setup terminal
    io = TerminalIO()

    # Setup rx pin
    rxpin = SerialRxPin(baud, io)
    net = pysimulavr.Net()
    net.Add(rxpin)
    net.Add(dev.GetPin("D1"))

    # Setup tx pin
    txpin = SerialTxPin(baud, io)
    net2 = pysimulavr.Net()
    net2.Add(dev.GetPin("D0"))
    net2.Add(txpin)

    # Display start banner
    msg = "Starting AVR simulation: machine=%s speed=%d\n" % (proc, speed)
    msg += "Serial: port=%s baud=%d\n" % (ptyname, baud)
    if options.trace:
        msg += "Trace file: %s\n" % (options.tracefile,)
    sys.stdout.write(msg)
    sys.stdout.flush()

    # Create terminal device
    fd = create_pty(ptyname)

    # Run loop
    try:
        io.run(fd)
        trace.start()
        sc.RunTimeRange(0x7fff0000ffff0000)
        trace.finish()
    finally:
        os.unlink(ptyname)

if __name__ == '__main__':
    main()